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SIGVerse Web
Introduction †
SIGVerse Web is a Web Interface for SIGVerse Application Development. Together with SIGViewer, SIGVerse application development can be done without command-line interface terminal (e.g. Cygwin). A light-weight programming editor with multiple languages support is equipped on the system to ease programming jobs. Code compiling (make), building of project files, and execution can be done with just a click. Furthermore, the web-based system also enable development to be carry out anywhere with just an internet browser.
Main feature of SIGVerse Web:
- Web-based Editor and Compiler
- Remote Control SIGServer
- Workspace on the Cloud
Setup †
- Register and Login Webuser account
- SIGVerse Installation/Uninstallation
- On the main page, after Connect to Socio, select the desired version and click to install/uninstall SIGVerse.
- *Important* After clicking the Install button, please allow some time (~5 mins) for the processing until a long list of output is displayed. Please do not press any other button during the processing.
- Once the installation is completed, you can click Go to access your Workspace.
Basic Development Guide †
- Project Directory
- The left panel consists of a file navigation for project directory. You can create new project folder and file, upload project file, and even import a whole project (Refer to Import below).
- Editor Area
- The center area is the editor for programming code developments. It supports multiple programming languages with syntax highlight, search and replace, and multi-tab for working of several files in parallel.
- Control Panel
- The lower panel is the Control Panel for code compiling and execution.
- Make - To make controller codes with a Makefile. Please make sure to prepare the Makefile.txt as below (sample):
- Makefile.txt
#SIGVerseソースの場所指定
SIG_SRC = ../sigverse-$(sigversion)/include/sigverse
#オブジェクトファイルの指定
OBJS = Controller.so
all: $(OBJS)
#コンパイルを行います。
./%.so: ./%.cpp
g++ -DCONTROLLER -DNDEBUG -DUSE_ODE -DdDOUBLE -I$(SIG_SRC) -I$(SIG_SRC)/comm/controller -fPIC -shared -o $@ $<
- Build - To "build" the project files into the current SIGVerse version (indicated on the right end of Control Panel).
- Import (.zip) - To import a project from local machine, upload the zip file of the project (with all files inside) onto Project Directory. Press Import to extract it (refresh to view the new folder).
- Export - To download a project in zip format.
- Delete - To delete a project (with all files inside).
- Execute [Admin] - For administrative purpose only.
- Running Simulation
- Run - To execute SIGServer (./sigverse.sh).
- Check - To view output of the execution (for possible error).
- Kill - To terminate SIGServer.
Tutorials †
- First Test (Tutorial01)
- To simulate a falling object due to gravitational and external forces.
- Step 1: Create a new project
- Click the Add Folder icon on the top of the left Project Directory.
- Insert "Tutorial01" and click SAVE.
- A new folder named "Tutorial01" appears on the Project Directory.
- Step 2: Create an agent controller
- An agent is an autonomous object controlled by a controller.
- Click into "Tutorial01" and click Add File to create the controller source code.
- Insert "MoveController" and select "cpp" as the file type.
- Insert the following codes into the Editor Area and click SAVE.
MoveController.cpp
- The above controller codes do nothing except execute "onAction" on every 5 s.
- Step 3: Compiling the controller codes
- Create a file named "Makefile" with "txt" file type.
- Insert the following codes into the Editor Area and click SAVE.
Makefile.txt
#SIGVerseソースの場所指定
SIG_SRC = ../sigverse-$(sigversion)/include/sigverse
#オブジェクトファイルの指定
OBJS = MoveController.so
all: $(OBJS)
#コンパイルを行います。
./%.so: ./%.cpp
g++ -DCONTROLLER -DNDEBUG -DUSE_ODE -DdDOUBLE -I$(SIG_SRC) -I$(SIG_SRC)/comm/controller -fPIC -shared -o $@ $<
- Click Make and refresh the Project Directory to ensure the creation of "MoveController.so" file.
- Step 4: Create a virtual world with the agent
- Create a new file named "NewWorld" with "xml" file type.
- Insert the following codes into the Editor Area and click SAVE.
NewWorld.xml
- The above codes create a virtual world named "myworld".
- In the world, an agent named "Toy_D" using the instance of "seToy_D.xml" is created.
- The "implementation" attribute attaches "MoveController.so" as the controller of the agent.
- With the "dynamics" attribute value set to "true", the agent is subjected to dynamics simulation.
- The initial position (x,y,z) and mass are set.
- Step 5: Execute the simulation
- On the Control Panel, build the project by using Build.
- Set "Port" to 9001 and "World" to "NewWorld.xml"
- Click Run to execute SIGVerse.
- Click Check to check the last line of the output is " Java VM start ok" for successful execution.
- Run SIGViewer. Establish SSH connection under Setting. Set host name as "localhost" and port no. to "9001". Click Connect to SimServer.
- An agent in a virtual world appears as follows.
#ref(): File not found: "toy_1.jpg" at page "動力学シミュレーションのサンプル"
- Click Send under SIM_CTRL_CMD (START) to start the simulation.
- The agent falls straight down the ground.
- Disconnect SimServer in SIGViewer and Kill in the Control Panel to terminate the simulation.
- Step 6: Apply external force
- To apply an external force to the agent, edit the agent controller as follows:
MoveController.cpp
↓
- Make, Build and Run the simulation as above.
- The agent moves forward as below.
#ref(): File not found: "toy_3.jpg" at page "動力学シミュレーションのサンプル"
- Tutorial Project Files
- Tutorial01 -
- Tutorial02 -
- Tutorial03 -
- Tutorial04 -
- Tutorial05 -
- Tutorial06 -
- Tutorial07 -
- Tutorial08 -
- Tutorial09 -
- Tutorial10 -
For any inquiry, please contact Jeffrey [jeffrey@nii.ac.jp].
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